Readme update with Maps Manager instructions

Author: juanscelyg

README.md

@@ -2,11 +2,11 @@
 
 This stack is part of the Easy Navigation (EasyNav) project developed by the Intelligent Robotics Lab. It is composed of the **pointcloud_maps_builder** package and the **pointcloud_maps_manager** package (currently under construction).
 
-The `PointcloudMapsBuilderNode` subscribes to point cloud sensor data, downsamples and fuses it, and republishes the processed data for mapping or further processing.
-
+## Pointcloud Maps Builder
 
+The `PointcloudMapsBuilderNode` subscribes to point cloud sensor data, downsamples and fuses it, and republishes the processed data for mapping or further processing.
 
-## Parameters
+### Parameters
 
 | Parameter Name            | Type    | Default   | Description                                      |
 |--------------------------|---------|-----------|--------------------------------------------------|
@@ -16,7 +16,7 @@ The `PointcloudMapsBuilderNode` subscribes to point cloud sensor data, downsampl
 
 ---
 
-## Installation
+### Installation
 
 Clone the repository into your ROS 2 workspace:
 ```bash
@@ -26,7 +26,7 @@ cd ..
 colcon build --packages-select easynav_pointcloud_maps_builder
 ```
 
-## Usage
+### Usage
 
 Source your workspace:
 ```bash
@@ -57,4 +57,63 @@ pointcloud_maps_builder_node:
 ```
 ros2 run easynav_pointcloud_maps_builder pointcloud_maps_builder_main \
 --ros-args --params-file src/easynav_pointcloud_stack/params.yaml
+```
+
+## Pointcloud Maps Manager
+
+The `PointcloudMapsManager` subscribes to point cloud topic managed by Maps Builder. There is another option when the point cloud is stored in a Point Cloud Data file (`.pcd`). The manager can handle both cases, allowing for flexible integration with existing point cloud data.
+
+### Parameters
+
+| Parameter Name            | Type    | Default   | Description                                      |
+|--------------------------|---------|-----------|--------------------------------------------------|
+| `map_types`           | string | ` `                            | Map representation defined by map manager |
+
+By each `map_types` define in the params file is required to define the following parameters:
+
+| Parameter Name            | Type    | Default   | Description                                      |
+|--------------------------|---------|-----------|--------------------------------------------------|
+| `map_topic_in`        | string | `/<node name>/<plugin name>/topic_in`  | Topic where the point cloud is received |
+| `package_name`        | string | ` `                            | Package name where is located the `pcd` file.|
+| `map_path_file`       | string | `pointcloud_map.pcd`      | Filename for `pcd` map file.     |
+
+>> note: The `map_path_file` is only required if the `package_name` is defined. If not, the point cloud data will be read from topic defined in `map_topic_in`.
+
+### Installation
+
+Clone the repository into your ROS 2 workspace:
+```bash
+cd ~/ros2_ws/src
+git clone https://github.com/EasyNavigation/easynav_pointcloud_stack.git
+cd ..
+colcon build --packages-select easynav_pointcloud_maps_manager easynav_pointcloud_common
+```
+
+### Usage
+
+Source your workspace:
+```bash
+source ~/ros2_ws/install/setup.bash
+```
+Run the lifecycle node:
+```bash
+ros2 run easynav_system system_main --ros-args --params-file <ros workspace path>/src/easynav_pointcloud_stack/robot_params/maps_manager.params.yaml
+```
+
+The file `maps_manager.params.yaml` could be modified to include the desired point cloud map types and their respective parameters.
+
+## How to create a parameter file for Pointcloud Maps Manager
+
+1. Create a parameter YAML file (e.g., `params.yaml`) with the following content:
+
+```yaml
+maps_manager_node:
+  ros__parameters:
+    use_sim_time: true # When data source is from file this parameter should be set to false
+    map_types: [PointCloudData] # Map types defined by the manager
+    PointCloudData:
+      plugin: easynav_pointcloud_maps_manager/PointCloudMapsManager # Plugin name
+      map_topic_in: /map_builder/cloud_filtered # Topic where the point cloud is received
+      package_name: easynav_outdoor_testcase # Package name where is located the `pcd` file.
+      map_path_file: maps/pointcloud_map.pcd  # Filename for `pcd` map file.
 ```